Control system for plants

ABSTRACT

A control system for a plant includes a sensor for detecting an output from the plant, an adaptive controller for controlling a manipulated variable applied to control of the plant in such a manner that an output from the sensor becomes equal to a desired value, and an adaptive parameter-adjusting device for adjusting adaptive parameters used by the adaptive controller. The adaptive parameter-adjusting device has an identification error-calculating device for calculating an identification error of the adaptive parameters and generating an identification error signal indicative of the calculated identification error, and an adjusting device for adjusting the adaptive parameters based on the calculated identification error. The adaptive parameter-adjusting device includes a non-linear filter for generating an output of 0 or approximately 0 in response to the identification error signal when the identification error is within a predetermined range. The adjusting device adjusts the adaptive parameters by using the output from the non-linear filter.

BACKGROUND OF THE INVENTION

1. Field of the Invention

This invention relates to a control system for plants, which controls aplant by means of feedback control based on an adaptive control theory.

2. Prior Art

Conventionally, an air-fuel ratio control system for internal combustionengines is known, e.g. from U.S. Pat. No. 5,636,621, in which aparameter-adjusting mechanism calculates adaptive parameters and anadaptive controller carries out feedback control of the air-fuel ratioof a mixture supplied to the engine to a desired air-fuel ratio by usingthe adaptive parameters. In the known air-fuel ratio control system, anair-fuel ratio sensor arranged in the exhaust system of the enginedetects the air-fuel ratio of the mixture and supplies a signalindicative of the detected air-fuel ratio to the adaptive controller,which in turn determines an amount of fuel to be supplied to the enginesuch that the detected air-fuel ratio becomes equal to a desiredair-fuel ratio. In this case, the internal combustion engine is a plantas an object to be controlled, while the amount of fuel to be suppliedto the engine and the desired air-fuel ratio are a manipulated variableand a desired value to which an operation of the plant is to becontrolled, respectively.

In the air-fuel ratio control system disclosed in the above publication,to perform the adaptive control in a stable manner, limit-checking of anidentification error signal (indicative of a degree of deviation of theadaptive parameters from their optimal values) for use in calculation ofthe adaptive parameters by the adaptive parameter-adjusting mechanism iscarried out such that the value of the signal falls within apredetermined range defined by upper and lower limit values.

However, even if the value of the identification error signal is withinthe predetermined range, calculation of the adaptive parameter vectorθ(k) is made by adding the product of the identification error signal e*multiplied by a predetermined gain to the immediately preceding valueθ(k-1), as shown in Mathematical Formula (8) in the above publication.Accordingly, the identification error signal e* is accumulated in theadaptive parameter vector θ through the multiplication. Therefore, inthe conventional control system, when the adaptive control is continuedwhile the engine as the object to be controlled is in a steady andstable operating condition, it cannot be avoided that the adaptiveparameter vector θ drifts (progressively deviates from the optimalvalue).

SUMMARY OF THE INVENTION

It is the object of the present invention to provide a control systemfor plants, which is capable of preventing the adaptive parameter vectorfrom progressively deviating from its optimal value (drifting) as timeelapses, even when the adaptive control is continuously executed in asteady operating condition of the plant, to thereby enable the adaptivecontrol to be continued in a stable manner.

To attain the above object, according to a first aspect of theinvention, there is provided a control system for a plant, includingdetection means for detecting an output from the plant, an adaptivecontroller for controlling a manipulated variable applied to control ofthe plant in a manner such that an output from the detection meansbecomes equal to a desired value, and adaptive parameter-adjusting meansfor adjusting adaptive parameters used by the adaptive controller, theadaptive parameter-adjusting means having identificationerror-calculating means for calculating an identification error of theadaptive parameters and generating an identification error signalindicative of the calculated identification error, and adjusting meansfor adjusting the adaptive parameters based on the calculatedidentification error.

The control system is characterized in that the adaptiveparameter-adjusting means comprises non-linear filter means forgenerating an output of 0 or approximately 0 in response to theidentification error signal when the identification error is within apredetermined range,

the adjusting means adjusting the adaptive parameters by using theoutput from the non-linear filter means.

Preferably, the adaptive parameter-adjusting means includes low-passfilter means for attenuating high-frequency components of theidentification error signal from the identification errorsignal-calculating means to generate an output of the resultingattenuated signal, the adjusting means using a sum of the output fromthe non-linear filter means and the output from the low-pass filtermeans to adjust the adaptive parameters.

More preferably, the adaptive parameter-adjusting means includeslimiting means for limiting the output from the low-pass filter meanswithin the predetermined range, the adjusting means using a sum of theoutput from the non-linear filter means and an output from the limitingto adjust the adaptive parameters.

Preferably, the non-linear filter means is configured in a manner suchthat there is no discontinuity in an input/output characteristicthereof.

Preferably, the adaptive parameter-adjusting means includes averagingmeans for calculating moving average values of the adaptive parameters,and supplies the moving average values to the adaptive controller.

Preferably, the plant is an internal combustion engine having an exhaustsystem, the detection means being air-fuel ratio-detecting meansarranged in the exhaust system, for detecting an air-fuel ratio of anair-fuel mixture supplied to the engine, the desired value being adesired air-fuel ratio of the air-fuel mixture, the manipulated variablebeing an amount of fuel to be supplied to the engine.

More preferably, the manipulated variable is calculated as a correctioncoefficient for correcting a basic fuel amount corresponding to anamount of intake air supplied to the engine. To attain the above object,a control system for a plant, according to a second aspect of theinvention, is characterized in that the adjusting means eliminatesinfluence of the identification error calculated in the past by using aforgetting factor, in adjusting the adaptive parameters.

Preferably, the adjusting means calculates each of the adaptiveparameters as a sum of an initial value of the each of the adaptiveparameters and an updated component of the each of the adaptiveparameters.

Preferably, the adaptive parameter-adjusting means includes averagingmeans for calculating moving average values of the adaptive parameters,and supplies the moving average values to the adaptive controller.

The above and other objects, features, and advantages of the inventionwill become more apparent from the following detailed description takenin conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing the arrangement of an internalcombustion engine and an air-fuel ratio control system therefor, as aplant and a control system therefor, respectively, according to a firstembodiment of the invention;

FIG. 2 is a block diagram useful in explaining a manner of controllingthe air-fuel ratio of a mixture supplied to the engine appearing in FIG.1;

FIG. 3 is a flowchart showing a main routine for calculating an adaptivecontrol correction coefficient KSTR in response to an output from a LAFsensor appearing in FIG. 1;

FIG. 4 is a flowchart showing a subroutine for carrying out a LAFfeedback control region-determining process, which is executed at a stepS6 in FIG. 3;

FIG. 5 is a block diagram useful in explaining a manner of calculatingthe adaptive control correction coefficient KSTR;

FIGS. 6A and 6B are diagrams useful in explaining improved controlperformance exhibited by a control method employed in the firstembodiment;

FIG. 7A is a block diagram showing an adaptive parametervector-calculating section for calculating an adaptive parameter vectoraccording to the first embodiment;

FIG. 7B is a block diagram showing a variation of the adaptive parametervector-calculating section;

FIGS. 8A and 8B are diagrams useful for explaining characteristics of afilter appearing in FIG. 7A;

FIG. 8C is a diagram useful for explaining characteristics of a filterappearing in FIG. 7B;

FIG. 9 is a flowchart showing a subroutine for calculating the adaptivecontrol correction coefficient KSTR;

FIG. 10 is a flowchart showing a subroutine for calculating adaptiveparameters;

FIG. 11 is a diagram which is useful in explaining a method ofcalculating moving average values of the adaptive parameters;

FIG. 12 is a diagram showing changes in adaptive parameter values andtheir moving average values; and

FIG. 13A is a block diagram showing an adaptive parametervector-calculating section for calculating the adaptive parametervector, which is used in a control system according to a secondembodiment of the invention; and

FIG. 13B is a block diagram showing an adaptive parametervector-calculating section for calculating the adaptive parametervector, which is used in a control system according to a thirdembodiment of the invention.

DETAILED DESCRIPTION

The invention will now be described in detail with reference to thedrawings showing embodiments thereof.

FIG. 1 schematically shows the whole arrangement of an internalcombustion engine (hereinafter simply referred to as the engine) and acontrol system therefor, as a plant and a control system for the plant,respectively, according to a first embodiment of the invention. That is,in the figure, the arrangement of the control system for the plant isshown in which the plant is embodied as the engine and a manipulatedvariable of the control system is embodied as the air-fuel ratio (amountof fuel) of a mixture supplied to the engine.

In FIG. 1, reference numeral 1 designates a four-cylinder type internalcombustion engine. The engine 1 has an intake pipe 2 having a manifoldpart (intake manifold) 11 directly connected to the combustion chamberof each cylinder. A throttle valve 3 is arranged in the intake pipe 2 ata location upstream of the manifold part 11. A throttle valve opening(θTH) sensor 4 is connected to the throttle valve 3, for generating anelectric signal indicative of the sensed throttle valve opening θTH andsupplying the same to an electronic control unit (hereinafter referredto as the ECU) 5. The intake pipe 2 is provided with an auxiliary airpassage 6 bypassing the throttle valve 3, and an auxiliary air amountcontrol valve (electromagnetic valve) 7 is arranged across the auxiliaryair passage 6. The auxiliary air amount control valve 7 is electricallyconnected to the ECU 5 to have an amount of opening thereof controlledby a signal therefrom. An intake air temperature (TA) sensor 8 isinserted into the intake pipe 2 at a location upstream of the throttlevalve 3, for supplying an electric signal indicative of the sensedintake air temperature TA to the ECU 5. The intake pipe 2 has a swelledportion 9 as a chamber interposed between the throttle valve 3 and theintake manifold 11. An intake pipe absolute pressure (PBA) sensor 10 isarranged in the chamber 9, for supplying a signal indicative of thesensed intake pipe absolute pressure PBA to the ECU 5. An engine coolanttemperature (TW) sensor 13, which may be formed of a thermistor or thelike, is mounted in the cylinder block of the engine 1 filled with anengine coolant, for supplying an electric signal indicative of thesensed engine coolant temperature TW to the ECU 5. A crank angleposition sensor 14 for detecting the rotational angle of a crankshaft,not shown, of the engine 1 is electrically connected to the ECU 5 forsupplying an electric signal indicative of the sensed rotational angleof the crankshaft to the ECU 5. The crank angle position sensor, 14 iscomprised of a cylinder-discriminating sensor, a TDC sensor, and a CRKsensor. The cylinder-discriminating sensor generates a signal pulse(hereinafter referred to as a CYL signal pulse) at a predetermined crankangle of a particular cylinder of the engine 1, the TDC sensor generatesa signal pulse at each of predetermined crank angles (e.g. whenever thecrankshaft rotates through 180 degrees when the engine is of the4-cylinder type) which each correspond to a predetermined crank anglebefore a top dead point (TDC) of each cylinder corresponding to thestart of the suction stroke of the cylinder, and the CRK sensorgenerates a signal pulse at each of predetermined crank angles (e.g.whenever the crankshaft rotates through 30 degrees) with a predeterminedrepetition period shorter than the repetition period of TDC signalpulses. The CYL signal pulse, TDC signal pulse, and CRK signal pulse aresupplied to the ECU 5, which are used for controlling various kinds oftiming, such as fuel injection timing and ignition timing, and fordetecting the engine rotational speed NE. Fuel injection valves 12 areinserted into the intake manifold 11 for respective cylinders atlocations slightly upstream of intake valves, not shown. The fuelinjection valves 12 are connected to a fuel pump, not shown, andelectrically connected to the ECU 5 to have the fuel injection timingand fuel injection periods (valve opening periods) thereof controlled bysignals therefrom. Spark plugs, not shown, of the engine 1 are alsoelectrically connected to the ECU 5 to have the ignition timing θIGthereof controlled by signals therefrom. An exhaust pipe 16 of theengine has a manifold part (exhaust manifold) 15 directly connected tothe combustion chambers of the cylinders of the engine 1. A linearoutput air-fuel ratio sensor (hereinafter referred to as the LAF sensor)17 is arranged in a confluent portion of the exhaust pipe 16 at alocation immediately downstream of the exhaust manifold 15. Further, afirst three-way catalyst (immediate downstream three-way catalyst) 19and a second three-way catalyst (bed-downstream three-way catalyst) 20are arranged in the confluent portion of the exhaust pipe 16 atlocations downstream of the LAF sensor 17, for purifying noxiouscomponents present in exhaust gases, such as HC, CO, and NOx. An oxygenconcentration sensor (hereinafter referred to as the O2 sensor) 18 isinserted into the exhaust pipe 16 at a location intermediate between thethree-way catalysts 19 and 20.

The LAF sensor 17 is electrically connected via a low-pass filter 22 tothe ECU 5, for supplying the ECU 5 with an electric signal substantiallyproportional in value to the concentration of oxygen present in exhaustgases from the engine (i.e. the air-fuel ratio). The O2 sensor 18 has anoutput characteristic that output voltage thereof drastically changeswhen the air-fuel ratio of exhaust gases from the engine changes acrossa stoichiometric air-fuel ratio to deliver a high level signal when themixture is richer than the stoichiometric air-fuel ratio, and a lowlevel signal when the mixture is leaner than the same. The O2 sensor 18is electrically connected via a low-pass filter 23 to the ECU 5 forsupplying the ECU 5 with the high or low level signal. The low-passfilters 22 and 23 are provided for eliminating high frequency noisecomponents, and influence thereof on the responsiveness of the air-fuelratio control system is negligible.

The engine 1 includes a valve timing changeover mechanism 60 whichchanges valve timing of at least the intake valves out of the intakevalves and exhaust valves, not shown, between a high speed valve timingsuitable for operation of the engine in a high speed operating regionthereof and a low speed valve timing suitable for operation of theengine in a low speed operating region thereof. The changeover of thevalve timing includes not only timing of opening and closing of thevalve but also changeover of the valve lift amount, and further, whenthe low speed valve timing is selected, one of the two intake valves isdisabled, thereby ensuring stable combustion even when the air-fuelratio of the mixture is controlled to a leaner value than thestoichiometric air-fuel ratio.

The valve timing changeover mechanism 60 changes the valve timing bymeans of hydraulic pressure, and an electromagnetic valve for changingthe hydraulic pressure and a hydraulic pressure sensor, neither of whichis shown, are electrically connected to the ECU 5. A signal indicativeof the sensed hydraulic pressure is supplied to the ECU 5 which in turncontrols the electromagnetic valve for changing the valve timing.

Further electrically connected to the ECU 5 is an atmospheric pressure(PA) sensor 21, for detecting atmospheric pressure PA, and supplying asignal indicative of the sensed atmospheric pressure PA to the ECU 5.

The ECU 5 is comprised of an input circuit having the functions ofshaping the waveforms of input signals from various sensors includingones mentioned above, shifting the voltage levels of sensor outputsignals to a predetermined level, converting analog signals fromanalog-output sensors to digital signals, and so forth, a centralprocessing unit (hereinafter referred to as the CPU), a memory circuitcomprised of a ROM storing various operational programs which areexecuted by the CPU and various maps and tables, referred tohereinafter, and a RAM for storing results of calculations from the CPU,etc., and an output circuit which outputs driving signals to the fuelinjection valves 12 and other electromagnetic valves, spark plugs, etc.

The ECU 5 operates in response to the above-mentioned signals from thesensors to determine operating conditions in which the engine 1 isoperating, such as an air-fuel ratio feedback control region in whichair-fuel ratio feedback control is carried out in response to outputsfrom the LAF sensor 17 and the O2 sensor 18, and air-fuel ratioopen-loop control regions, and calculates, based upon the determinedengine operating conditions, the fuel injection period TOUT over whichthe fuel injection valves 12 are to be opened, by using the followingequation (1), to output signals for driving the fuel injection valves12, based on results of the calculation:

    TOUT=TIMF×KTOTAL×KCMDM×KFB               (1)

where TIMF represents a basic value of the fuel injection amount TOUT,KTOTAL a correction coefficient, KCMDM a final desired air-fuel ratiocoefficient, and KFB a feedback correction coefficient, respectively.

FIG. 2 is a block diagram useful in explaining the manner of calculatingthe fuel injection period TOUT by using the equation (1). With referenceto the figure, an outline of the manner of calculating the fuelinjection period TOUT according to the present embodiment will bedescribed. It should be noted that in the present embodiment, the amountof fuel to be supplied to the engine is calculated, actually, in termsof a time period over which the fuel injection valve 6 is opened (fuelinjection period), but in the present specification, the fuel injectionperiod TOUT is referred to as the fuel injection amount or the fuelamount since the fuel injection period is equivalent to the amount offuel injected or to be injected.

In FIG. 2, a block B1 calculates the basic fuel amount (basic value ofthe fuel injection amount) TIMF corresponding to an amount of intake airsupplied to the engine 1. The basic fuel amount TIMF is basically setaccording to the engine rotational speed NE and the intake pipe absolutepressure PBA. However, it is preferred that a model representative of apart of the intake system extending from the throttle valve 3 to thecombustion chambers of the engine 1 is prepared in advance, and acorrection is made to the basic fuel amount TIMF in dependence on adelay of the flow of intake air obtained based on the model. In thispreferred method, the throttle valve opening θTH and the atmosphericpressure PA are also used as additional parameters indicative ofoperating conditions of the engine.

Reference numerals B2 to B4 designate multiplying blocks, which multiplythe basic fuel amount TIMF by respective parameter values input thereto,and deliver the product values. These blocks carry out the arithmeticoperation of the equation (1), to thereby generate the fuel injectionamount TOUT.

A block B9 multiplies together all feed forward correction coefficients,such as an engine coolant temperature-dependent correction coefficientKTW set according to the engine coolant temperature TW, an EGR-dependentcorrection coefficient KEGR set according to the amount of recirculationof exhaust gases during execution of the exhaust gas recirculation, anda purging-dependent correction coefficient KPUG set according to anamount of purged evaporative fuel during execution of purging by anevaporative fuel-processing system of the engine, not shown, to obtainthe correction coefficient KTOTAL, which is supplied to the block B2.

A block B21 determines a desired air-fuel ratio coefficient KCMD basedon the engine rotational speed NE, the intake pipe absolute pressurePBA, etc., and supplies the same to a block B22. The desired air-fuelratio coefficient KCMD is directly proportional to the reciprocal of theair-fuel ratio A/F, i.e. the fuel-air ratio F/A, and assumes a value of1.0 when it is equivalent to the stoichiometric air-fuel ratio. For thisreason, this coefficient KCMD will be also referred to as the desiredequivalent ratio. The block B22 corrects the desired air-fuel ratiocoefficient KCMD based on an output VMO2 from the O2 sensor 18 suppliedvia the low-pass filter 23, and delivers the corrected KCMD value toblocks B17, B19 and B23. The block B23 carries out fuelcooling-dependent correction of the corrected KCMD value to calculatethe final desired air-fuel ratio coefficient KCMDM and supplies the sameto the block B3.

A block B10 samples the output from the LAF sensor 17 supplied via thelow-pass filter 22 with a sampling period in synchronism with generationof each CRK signal pulse, sequentially stores the sampled values into aring buffer memory, not shown, and selects one of the stored valuesdepending on operating conditions of the engine (LAF sensoroutput-selecting processing), which was sampled at the optimum timingfor each cylinder, to supply the selected value to a block B17. The LAFsensor output-selecting processing eliminates the inconveniences thatthe air-fuel ratio, which changes every moment, cannot be accuratelydetected depending on the timing of sampling of the output from the LAFsensor 17, there is a time lag before exhaust gases emitted from thecombustion chamber reach the LAF sensor 17, and the response time of theLAF sensor per se changes depending on operating conditions of theengine.

The block B17 calculates an adaptive control correction coefficient KSTRby the operation of an adaptive controller (Self-Tuning Regulator)incorporated therein, based on the air-fuel ratio detected by the LAFsensor 17, and delivers the calculated KSTR value to the block B19. Thereason for employing the adaptive control is as follows: If the basicfuel amount TIMF is merely multiplied by the desired air-fuel ratiocoefficient KCMD (KCMDM), the resulting desired air-fuel ratio and hencethe actual air-fuel ratio may become dull due to a response lag of theengine. The adaptive control is employed to dynamically compensate forthe response lag of the engine to thereby improve the robustness of theair-fuel ratio control against external disturbances. The block B19divides the adaptive control correction coefficient KSTR by the desiredair-fuel ratio coefficient KCMD to thereby calculate the feedbackcorrection coefficient KFB, and delivers the calculated KFB value to theblock B4. The dividing processing is carried out to prevent the basicfuel amount TIMF from being doubly multiplied by a factor representativeof the desired air-fuel ratio coefficient KCMD, since the adaptivecontrol correction coefficient KSTR is calculated such that the actualequivalent ratio KACT becomes equal to the desired air-fuel ratiocoefficient KCMD, and hence it includes a factor corresponding to thedesired air-fuel ratio coefficient KCMD.

According to the present embodiment, as described above, the adaptivecontrol correction coefficient KSTR calculated through the adaptivecontrol responsive to the output from the LAF sensor 17 is divided bythe desired air-fuel ratio coefficient KCMD and the resulting quotientis applied as the correction coefficient KFB to the equation (1) tocalculate the fuel injection amount TOUT. When the correctioncoefficient KSTR is thus applied, the responsiveness of the air-fuelratio control to changes in the air-fuel ratio and the robustness of thesame against external disturbances can be improved, and hence thepurification rate of the catalysts can be improved to ensure goodexhaust emission characteristics of the engine in various operatingconditions of the engine.

In the present embodiment, the above described functions of the blocksappearing in FIG. 2 are realized by arithmetic operations executed bythe CPU of the ECU 5, and details of the operations will be describedwith reference to program routines illustrated in the drawings. Itshould be noted that in the following description, the suffix (k)represents sampling timing in the present discrete system, and (k) and(k-1), for example, indicate that values with these suffixes are thepresent value and the immediately preceding value, respectively.However, the suffix (k) is omitted unless required specifically.

FIG. 3 shows a main routine for calculating the adaptive controlcorrection coefficient KSTR in response to the output from the LAFsensor 17. This routine is executed in synchronism with generation ofTDC signal pulses.

At a step S1, it is determined whether or not the engine is in astarting mode, i.e. whether or not the engine is cranking. If the engineis in the starting mode, the program proceeds to a step S10 to execute asubroutine for the starting mode, not shown. If the engine is not in thestarting mode, the desired air-fuel ratio coefficient (desiredequivalent ratio) KCMD and the final desired air-fuel ratio coefficientKCMDM are calculated at a step S2, and a LAF sensor output-selectingprocess is executed at a step S3. Further, the actual equivalent ratioKACT is calculated at a step S4. The actual equivalent ratio KACT isobtained by converting the output from the LAF sensor 17 to anequivalent ratio value.

Then, it is determined at a step S5 whether or not the LAF sensor 17 hasbeen activated. This determination is carried out by comparing thedifference between the output voltage from the LAF sensor 17 and acentral voltage thereof with a predetermined value (e.g. 0.4 V), anddetermining that the LAF sensor 17 has been activated when thedifference is smaller than the predetermined value.

Then, it is determined at a step S6 whether or not the engine 1 is in anoperating region in which the air-fuel ratio feedback control responsiveto the output from the LAF sensor 17 is to be carried out (hereinafterreferred to as the LAF feedback control region). More specifically, itis determined that the engine 1 is in the LAF feedback control region,e.g. when the LAF sensor 17 has been activated but at the same timeneither fuel cut nor wide open throttle operation is being carried out.If it is determined that the engine is not in the LAF feedback controlregion, a reset flag FKLAFRESET which, when set to 1, indicates that theengine is not in the LAF feedback control region, is set to 1, whereasif it is determined the engine is in the LAF feedback control region,the reset flag FKLAFRESET is set to 0.

At the following step S7, it is determined whether or not the reset flagFKLAFRESET assumes 1. If FKLAFRESET=1 holds, the program proceeds to astep S8, wherein the adaptive control correction coefficient KSTR is setto 1.0, followed by terminating the program. On the other hand, ifFKLAFRESET=0 holds, the adaptive control correction coefficient KSTR iscalculated at a step S9, followed by terminating the present routine.

FIG. 4 shows a subroutine for carrying out a LAF feedback controlregion-determining process, which is executed at the step S6 in FIG. 3.

First, at a step S121, it is determined whether or not the LAF sensor 17is in an inactive state. If the LAF sensor 17 is in the inactive state,it is determined at a step S122 whether or not a flag FFC which, whenset to 1, indicates that fuel cut is being carried out, assumes 1. IfFFC=0 holds, it is determined at a step S123 whether or not the WOT flagFWOT which, when set to 1, indicates that the engine is operating in thewide open throttle condition, assumes 1. If FWOT=1 does not hold, it isdetermined at a step S124 whether or not battery voltage VBAT detectedby a battery voltage sensor, not shown, is lower than a predeterminedlower limit value VBLOW. If VBAT≧VBLOW holds, it is determined at a stepS125 whether or not there is a deviation of the LAF sensor output fromthe proper value corresponding to the stoichiometric air-fuel ratio (LAFsensor output deviation). If any of the answers to the questions of thesteps S121 to S125 is affirmative (YES), the reset flag FKLAFRESETwhich, when set to 1, indicates that the feedback control based on theLAF sensor output should be terminated, is set to 1 at a step S132.

On the other hand, if all the answers to the questions of the steps S121to S125 are negative (NO), it is determined that the feedback controlbased on the LAF sensor output can be carried out, and therefore thereset flag FKLAFRESET is set to 0 at a step S131.

Next, description will be made of calculation of the adaptive controlcorrection coefficient KSTR with reference to FIG. 5.

FIG. 5 shows the construction of the block B17 in FIG. 2, i.e. theself-tuning regulator (hereinafter referred to as the STR) block. TheSTR block is comprised of a STR controller as the self-turning regulatorfor setting the adaptive control correction coefficient KSTR such thatthe actual equivalent ratio KACT(k) becomes equal to the desiredair-fuel ratio coefficient (desired equivalent ratio) KCMD(k), and anadaptive parameter-adjusting mechanism as adaptive parameter-adjustingmeans for setting adaptive parameters to be used by the STR controller.

Known adjustment laws (mechanisms) for adaptive control include aparameter adjustment law proposed by Landau et al. This method isdescribed e.g. in Computrole No. 27, CORONA PUBLISHING CO., LTD., Japan,pp. 28-41, Automatic control handbook OHM, LTD., Japan, pp. 703-707, ASurvey of Model Reference Adaptive Techniques--Theory and Application,I. D. LANDAU Automatic Vol. 10, pp. 353-379, 1974, Unification ofDiscrete Time Explicit Model Reference Adaptive Control Designs, I. D.LANDAU et al. Automatic Vol. 17, No. 4, pp. 593-611, 1981, and CombiningModel Reference Adaptive Controllers and Stochastic Self-tuningRegulators, I. D. LANDAU Automatic Vol. 18, No. 1., pp. 77-84, 1982. Inthe present embodiment, the above parameter adjustment law proposed byLandau et al. is employed. This parameter adjustment law will bedescribed in detail, hereinbelow: According to this adjustment law, ifpolynomials of the denominator and numerator of the transfer functionA(Z⁻¹)/B(Z⁻¹) of the controlled object by a discrete system areexpressed by the following equations (2) and (3), the adaptive parametervector θT(k) and the input ζT(k) to the adaptive parameter-adjustingmechanism are defined by the following equations (4) and (5). Theequations (4) and (5) define an example of a plant in which m=1, n=1 andd=3 hold, i.e. a system of the first order thereof has a dead time aslong as three control cycles. The symbol k used herein indicates theparameter with (k) has the present value, one with (k-1) the immediatelypreceding value, and so forth, which correspond to respective controlcycles. u(k) and y(k) in the equation (5) correspond to the KSTR(k) andKACT(k) values, respectively, in the present embodiment. ##EQU1##

The adaptive parameter vector θ(k) is expressed by the followingequation (6): ##EQU2## where the symbols Γ(k) and e*(k) represent a gainmatrix and an identification error signal, respectively, and can beexpressed by the following recurrence formulas (7) and (8): ##EQU3##

Further, it is possible to provide various specific algorithms dependingupon set values of λ₁ (k) and λ₂ (k) in the equation (7). For example,if λ₁ (k) =1 and λ₂ (k)=λ(0<λ<2) hold, a progressively decreasing gainalgorithm is provided (if λ=1, the least square method), if λ₁ (k)=λ₁(0<λ₁ <1) and λ₂ (k)=λ₂ (0<λ₂ <2) hold, a variable gain algorithm (if λ₂=1, the method of weighted least squares), and if λ₁ (k)/λ₂ (k)=α and ifλ₃ is expressed by the following equation (9), λ₁ (k)=λ₃ provides afixed trace algorithm. Further, if λ₁ (k)=1 and λ₂ (k)=0 hold, a fixedgain algorithm is obtained. In this case, as is clear from the equation(6), Γ(k)=Γ(k-1) holds, and hence Γ(k)=Γ(fixed value) is obtained.

Further, D(Z⁻¹) in the equation (8) is an asymptotically stablepolynomial which can be defined by a system designer as desired todetermine the convergence of the system. In the present embodiment, itis set to a value 1.0. ##EQU4##

In the equation (9), trΓ(0) is a trace function of the matrix Γ(0), andspecifically, it is a sum (scalar) of diagonal components of the matrixΓ(0).

The STR controller and the adaptive parameter-adjusting mechanism arearranged outside the fuel injection amount-calculating system, andoperate to calculate the adaptive control correction coefficient KSTR(k)such that the actual equivalent ratio KACT(k+d) becomes equal to thedesired equivalent ratio KCMD(k) in an adaptive manner.

As shown in FIG. 5, the adaptive control correction coefficient KSTR(k)and the actual equivalent ratio KACT(K) are determined, which are inputto the adaptive parameter-adjusting mechanism, where the adaptiveparameter vector θ(k) is calculated to be input to the STR controller.The STR controller is also supplied with the desired equivalent ratioKCMD(k) and calculates the adaptive control correction coefficientKSTR(k) such that the actual equivalent ratio KACT(k+d) becomes equal tothe desired equivalent ratio KCMD(k), by using the following recurrenceformula (10): ##EQU5##

The equation (10) (and the equations (4) and (5)) is obtained when theSTR controller is designed on assumption that the dead time d of theengine 1 as a plant and the LAF sensor 17 as means for detecting theoutput from the plan is as long as three control cycles. However, due toa modification of the specifications of the engine 1 or the LAF sensor17, in some cases, the dead time d can be longer than three controlcycles. Assuming that the dead time d=5 holds, for instance, theadaptive parameter vector θ(k) and the input ζT(k) to the adaptiveparameter-adjusting mechanism are expressed by the following equations(11) and (12): ##EQU6##

Further, the equation for calculating the adaptive control correctioncoefficient KSTR(k) is expressed by the following equation (13):##EQU7##

Therefore, the amount of arithmetic operations required to calculate theadaptive control correction coefficient KSTR largely increases to such alevel as will make it impractical to calculate the coefficient KSTR byusing the CPU installed on the automotive vehicle for control of theengine. To eliminate this inconvenience, in the present embodiment, theconfiguration of the STR controller is adapted to the dead time d=3 asshown in FIG. 5, and sampling timing (in the present embodiment, theoperation cycle in which is calculated the input vector ζ used in thearithmetic operations is referred to as sampling timing) of the inputvector ζ to the adaptive parameter-adjusting mechanism is set to aperiod corresponding to an actual dead time DACT (DACT>d, e.g. 5)(hereinafter referred to as "lowered-order STR"). More specifically, inthe above equations (6) to (8), if d=DACT=3 holds, ζ(k-d) is made equalto ζ(k-3), which is also the case with ζ^(T) (k-d), i.e. the transposeddeterminant of ζ(k-d), and the same applies to the followingdescription. However, if the actual dead time DACT is larger than 3,e.g. equal to 5, the STR controller per se is adapted to d=3, and theinput vector ζ(k-d) of the equations (6) to (8) is set to ζ(k-5) whichis adapted to the actual dead time DACT. Then, the adaptive parametervector θ(k) (which is composed of elements b₀, s₀, r₁, r₂, and r₃exclusive of r₄ and r₅) is applied to the equation (10) to calculate theadaptive control correction coefficient KSTR. In this case, the vectorζ(k) is expressed by the right side of the equation (5), which naturallycorresponds to d=3, and the orders of terms of the equation applied arenot increased. The employment of the lowered-order STR makes it possibleto carry out the adaptive control in a manner adapted to the actual deadtime DACT without increasing the orders of terms of equations used inthe STR controller and the adaptive parameter-adjusting mechanism, andhence carry out high-accuracy adaptive control while minimizing anincrease in the amount of arithmetic operations required to obtain theadaptive control correction coefficient KSTR.

FIGS. 6A and 6B show examples of changes in the adaptive correctioncoefficient KSTR and the actual equivalent ration KACT which occurredwhen the desired equivalent ratio KCMD was changed in the case where theactual dead time DACT of the controlled object is longer than threecontrol cycles. FIG. 6A shows a case in which the STR controller isadapted to the dead time d=3, and the sampling timing of the inputvector ζT(k) to the adaptive parameter-adjusting mechanism is alsoadapted to the dead time d=3 by setting the factor ζ(k-d) in theequations (6) to (8) to ζ(k-3), while FIG. 6B shows a case in which theSTR controller is adapted to the dead time d=3, and the sampling timingof the input vector ζ to the adaptive parameter-adjusting mechanism isadapted to the dead time d=4, which is substantially equal to the actualdead time DACT by setting the factor ζ(k-d) in the equations (6) to (8)to ζ(k-4). As is clear from these figures, even if the dead time demployed in designing the STR controller is shorter than the actual deadtime DACT, it is possible to largely improve the responsiveness andstability of the adaptive control.

In general, the actual dead time of the controlled object is an analogvalue which changes continuously. However, in the adaptive control, thedead time has to be converted into a discrete or digital value.Therefore, assuming that the actual dead time is as long as 4.5 controlcycles, for instance, it is preferable to select the more suitable oneof values 4 and 5 for the dead time through comparison between controlperformance exhibited when the dead time DACT is set to 4 and thatexhibited when the same is set to 5.

As described above, the employment of the lowered-order STR can enhancethe performance of the adaptive control without increasing the amount ofarithmetic operations. However, the model assumed in designing thecontrol system is different from the actual object to be controlled, sothat the adaptive parameter vector θ can be liable to drift. Further,even if the lowering of orders of equations is not carried out, theequation (6) performs accumulation of slight identification errorscaused by external disturbances in the adaptive parameter vector.Therefore, so long as the adaptive parameter vector θ is calculated byusing the equation (6), it is inevitable that the adaptive parametervector θ drifts when the engine continues to be in a steady operatingcondition.

To eliminate this inconvenience, in the present embodiment, means isadditionally provided for preventing the adaptive parameter vector fromdrifting. This means will be described in detail hereinafter.

FIG. 7A shows an adaptive parameter vector-calculating section employedin the control system according to the present embodiment, forcalculating the adaptive parameter vector θ. In the figure, eid(k) andQ(k) represent the identification error and the variable gain,respectively, which are defined by the following equations (14) and(15), respectively: ##EQU8##

The identification error eid(k) corresponds to the numerator of theidentification error signal e* (equation (8)), while the variable gainQ(k) corresponds to a quotient obtained by dividing the second term ofthe equation (6) by the identification error eid(k). When theidentification error eid and the variable gain Q(k) are used, theadaptive parameter vector θ(k) is expressed by the following equation(16):

    θ(k)=θ(k-1)+Q(k)eid(k)                         (16)

As shown in FIG. 7A, the identification error eid(k) is input to anonlinear filter B51 and an output eida(k) therefrom is input via amultiplier B52 to an integrator B53. The nonlinear filter B51 has aninput/output characteristic e.g. as shown in FIG. 8A. More specifically,when -η≦eid≦η holds (η represents a predetermined value empiricallyobtained), which means that eid falls within the deadzone defined by -ηand η, the output eida is set equal to 0 and when the identificationerror eid is outside the dead zone, the output eida is set equal to theinput eida.

The arithmetic operations carried out at the blocks B52 and B53correspond to those carried out by using the equation (16) in whicheid(k) is replaced by eida(k).

In the present embodiment, the process of the nonlinear filter B51 isadditionally carried out. As a result, when the engine enters a steadyoperating condition, and identification of the adaptive parameter vectorθ is substantially completed, the identification error eid falls withinthe dead zone defined between -η and +η, so that the output eida fromthe block B51 is equal to 0, which prevents slight identification errorscaused by differences in characteristics between the model assumed indesigning the control system and the actual plant and externaldisturbances from being accumulated in the adaptive parameter vector θ,to thereby prevent drifting of the adaptive parameter vector θ.

The input/output characteristic of the nonlinear filter B51 shown inFIG. 8A shows a discontinuity as the input eid changes across -η, or η,which causes a drastic change in the vector θ when the identificationerror eid goes beyond the dead zone. To eliminate this inconvenience, itis preferable that the nonlinear filter B51 has an input/outputcharacteristic free from discontinuities as shown e.g. in FIG. 8B. Thatis, when -η≦eid≦η holds, the output eida is set to 0, while when eid>ηholds, the same is set to eid-η, and when eid<-η, holds, the same is setto eid+η.

Further, the arrangement of FIG. 7A in which the nonlinear filter B51alone is added undergoes occurrence of a steady state error of theadaptive control (difference between the desired equivalent ratio KCMDand the actual equivalent ration KACT). This is because theidentification error within the dead zone does not reflect on theadaptive parameter vector θ.

To overcome this inconvenience, it is desirable that blocks B61 to B66are additionally provided, as shown in FIG. 7B. Multiplies B61, B64, anadder B62, and a delay B63 constitute a first-order lag filter (low-passfilter). The output eidf from this filter has its level limited by alimiting filter B65, and is added to the output eida from the nonlinearfilter B51 by an adder B66. The output from the adder B66 is input tothe multiplier B52.

The output eidf from the first-order lag filter eidf is expressed by thefollowing equation (17):

    eidf=CLF×eidfa(k-1)+(1-CLF)×eid(k)             (17)

wherein CLF represents an averaging coefficient which is set to a valuesmaller than 1 but very close to 1, e.g. "0.988". In other words, thecoefficient CLF is provided to set the cutoff frequency of the low-passfilter to a value close to 0.

The limiting filter 65 constitutes a limiter having a characteristic asshown in FIG. 8C. More specifically, when the output eidf from thefirst-order lag filter, which is input to this limiter, is smaller than-η, an output eidfa from the limiter is set to -η, whereas when theoutput eidf is larger than η, the output eidfa is set to η. When-η≦eid≦η holds, eidfa is set to eidf.

In a variation shown in FIG. 7B, a steady state error component of theidentification error eid is extracted by the low-pass filter having acut-off frequency close to 0 and added to the output eida from thenonlinear filter B51. As a result, the steady state error component inthe identification error eid is reflected on the adaptive parametervector θ to thereby reduce the steady state error of the adaptivecontrol (steady state error between the desired equivalent ratio KCMDand the actual equivalent ratio KACT).

Further, the provision of the limiting filter B65 prevents the steadystate error component of the identification error eid used forcalculation of the adaptive parameter vector θ from becoming larger thanthe original value due to the addition by the adder B66 when theidentification error falls outside the dead zone (i.e. eid>η or eid<-η).

Next, the equation for calculating the adaptive control correctioncoefficient KSTR actually employed in the present embodiment will bedescribed. The above equations (5) to (10) are applied to a case wherethe control cycle and the repetition period of calculation of the KSTRvalue (repetition period of generation of TDC signal pulses) coincidewith each other and the adaptive control correction coefficient KSTRthus calculated is commonly used for all the cylinders. In the presentembodiment, however, the control cycle is as long as four TDC signalpulses corresponding to the number of cylinders, whereby the adaptivecontrol correction coefficient KSTR is determined cylinder by cylinder.More specifically, the above-mentioned equations (5) to (10) arereplaced by the following equations (18) to (23), respectively, tocalculate the adaptive control correction coefficient KSTR cylinder bycylinder for use in the adaptive control: ##EQU9##

It should be noted that when the actual dead time DACT is e.g. 4, theadaptive parameters b₀, s₀, r₁ to r₃ are calculated by using theequations (19) to (22) with d set to 4.

FIG. 9 shows a subroutine for calculating the adaptive controlcorrection coefficient KSTR which is executed at the step S9 in FIG. 3.

First, at a step S401, it is determined whether or not the reset flagFKLAFRESET assumed "1" in the last loop. If FKLAFRESET="1" held in thelast loop, which means that the adaptive control was not carried out inthe last loop, the initialization of the adaptive parameters b₀, s₀ andr₁ to r₃ is carried out by setting them to respective initial values,and then the program proceeds to a step S404. On the other hand, if itis determined at the step S401 that FKLAFRESET="1" held, which meansthat the adaptive control was carried out in the last loop as well, theprocess for calculating the adaptive parameters b₀, s₀ and r₁ to r₃ iscarried out by executing a routine shown in FIG. 10.

In the present embodiment, the calculation of θ(k), i.e. adaptiveparameters b₀, s₀ and r₁ to r₃ by using the equation (19) is carried outonce per four-TDC periods (time period over which four TDC signal pulsesare generated, i.e. one combustion cycle). Therefore, at a step S431 inFIG. 10, it is determined whether or not four TDC periods have elapsedfrom the last calculation of the adaptive parameters using the equation(19). If it is determined that four TDC periods have elapsed, theadaptive parameters b₀ (k), s₀ (k), and r₁ (k) to r₃ (k) are calculatedby using the equation (19) at a step S432. If four TDC periods have notelapsed, the adaptive parameters b₀, s₀ and r₁ to r₃ are set torespective immediately preceding values b₀ (k-1), s₀ (k-1), and r₁ (k-1)to r₃ (k-1).

After execution of the step S432 or S433, moving average values b₀ AV,s₀ AV, r₁ AV, r₂ AV, and r₃ AV over p TDC periods (e.g. p=8, i.e. 8 TDCperiods) are calculated by using the following equations (24) to (28) ata step S434, followed by terminating the program. The control systemincludes a ring buffer (memory means) for storing values of the adaptiveparameters b₀, s₀, r₁ to r₃ obtained over the p TDC periods (hereinafterp will be referred to as "the averaging period") to calculate the movingaverage values. The contents of the ring buffer are updated tonewly-calculated adaptive parameter values or the immediately precedingvalues whenever one TDC period elapses, whereby the oldest data storedtherein are erased. The updating of the contents of the ring buffer maybe carried out by storing a newly calculated value of the adaptiveparameter vector θ over four TDC periods (i.e. by storing the newlycalculated value θ(k) as the values θ(k) to θ(k+3): ##EQU10##

FIG. 11 illustrates a method of calculating a moving average value θAVwhen the averaging period p=8 holds. In the figure, the updating of theadaptive parameter vector θ is carried out once per four TDC periods,and hence θ(k-8)=θ(k-7)=θ(k-6)=θ(k-5) and θ(k-4)=θ(k-3)=θ (k-2)=θ(k-1)hold. Therefore, the updated θ value is progressively reflected on themoving average value θAV. That is, the calculation of the moving averagevalue is not intended to merely average the value based on the movingaverage values θ (k-8) θ(k-4), θ(k), etc.

FIG. 12 shows an example of changes in the adaptive parameter b₀ and themoving average value b₀ AV. In this figure, the adaptive parametervalues b₀ (0) to b₀ (4) have initial values thereof set to value anidentical value. A moving average value b₀ AV(8) is calculated as anaverage value of adaptive parameter values b₀ (1) to b₀ (8), and amoving average value b₀ AV(13) is calculated as an average value ofadaptive parameter values b₀ (6) to b₀ (13). More specifically, themoving average value b₀ AV(8) can be regarded as a value obtained byweighted interpolation of an initial value represented by the adaptiveparameter value b₀ (0), a first updated value represented by theadaptive parameter value b₀ (4), and a second updated value representedby the adaptive parameter value b₀ (8), while the moving average valueb₀ AV(13) as a value obtained by weighted interpolation of the firstupdated value represented by the adaptive parameter value b₀ (4), thesecond updated value represented by the adaptive parameter value b₀ (8),and a third updated value represented by an adaptive parameter value b₀(12).

Referring again to FIG. 9, at a step S404, the adaptive controlcorrection coefficient KSTR is calculated by using the moving averagevalues b₀ AV, s₀ AV, r₁ AV to r₃ AV of the adaptive parameters obtainedat the step S434 in FIG. 10. The use of the moving average values makesit possible to prevent the adaptive control from becoming unstable dueto updating of the adaptive parameters b₀, s₀, r₁ to r₃ at a frequencyof once per four TDC periods and low-pass characteristics of the LAFsensor 17. More specifically, the calculation of the moving averagevalues can eliminate components of the identification error signal e*which exhibit peaks (resonance) at a particular frequency and harmonicfrequencies thereof, to thereby stabilize the adaptive control. Thisadvantageous effect is exhibited to the highest degree when theaveraging period p is set to a value corresponding to a repetitionperiod corresponding to the particular frequency (e.g. p=12 when thereciprocal of the particular frequency is as long as twelve TDCperiods). Assuming that the optimal value of the averaging period p is12, however, it is possible to achieve practically satisfactorystability even if the averaging period p is set to 4.

At the following step S405, limit-checking of the calculated KSTR valueis carried out. More specifically, if the calculated KSTR value islarger than a predetermined upper limit value, the coefficient KSTR isset to the predetermined upper limit value, whereas if the same issmaller than a predetermined lower limit value, the coefficient KSTR isset to the predetermined lower limit value. If the calculated KSTR valueis within a range defined between the upper and lower limit values, theprogram is immediately terminated.

In the present embodiment, the engine 1 corresponds to a plant, the LAFsensor 17 to detecting means or air-fuel ratio detecting means, the STRcontroller in FIG. 5 to an adaptive controller, and the adaptiveparameter-adjusting mechanism to adaptive parameter-adjusting means. TheSTR controller and the adaptive parameter-adjusting mechanism areembodied by the ECU 5.

Although in the above described embodiment, the identification error eidcorresponding to the numerator of the identification error signal e* issubjected to the nonlinear filtering process and low-pass filteringprocess, this is not limitative, but the same processes can be carriedout on the identification error signal e*. Further, in the abovedescribed embodiment, the nonlinear filter B51 has a characteristic thatwhen the identification error eid is within the dead zone, the outputeida is set to 0, this is not limitative, but the filter B51 may beconfigured such that the output eida is set to a value very close to 0even if not equal to 0.

Further, the repetition period of updating the adaptive parameter vectorθ is not necessarily limited to four TDC periods, but it may be set totwo, six, eight or other TDC periods. Further, the above describedmoving average values of the adaptive parameter vector θ need not benecessarily used for calculation of the adaptive parameter coefficientKSTR carried out whenever one TDC period elapses, but values calculatedby interpolation using elements of the previous updated vector valuesθ(k-4), θ(k-8), etc., and corresponding elements of the present updatedvector value θ (k) or by a known smoothing process (low-pass filteringprocess) using the following equation (29) may be alternatively used forcalculation of the coefficient KSTR:

    θAV(k)=CAV×θAV(k-1)+(1-CAV)θ(k)    (29)

wherein CAV represents an averaging coefficient set to a value between 0and 1.

More specifically, elements of the adaptive parameter vector θ updatedwhenever four TDC periods elapse are subjected to smoothing whenever oneTDC period elapses to use the thus obtained adaptive parameter valuesfor calculation of the coefficient KSTR. According to the smoothingprocess through calculation of the moving average values, however, it ispossible to obtain a comb filter characteristic that the degree ofattenuation increases at a frequency corresponding to the reciprocal ofthe averaging period p and frequencies of integral multiples of thefrequency, whereby unnecessary frequency components alone can beeffectively attenuated. Therefore, it is more preferable to use theadaptive parameter values obtained through calculation of the movingaverage values.

Further, in the case where the adaptive parameter vector θ is updatedwhenever four TDC periods elapse, at a time point k of updating of theadaptive parameter vector θ, values thereof at respective time points(k+1), (k+2) and (k+3) are also determined, and therefore the averagingcalculation need not be necessarily carried out every TDC period, butthe average values may be collectively calculated and stored at one timewhen the adaptive parameter vector θ is updated, and when thecoefficient KSTR is calculated, corresponding values stored may be readout for use in calculation of the coefficient KSTR. Alternatively, theaveraging calculation may be carried out with a repetition periodshorter than one TDC period (e.g. every time period during which thecrankshaft of the engine rotates through 30 degrees).

Next, a second embodiment of the invention will be described.

In the first embodiment described above, the nonlinear filter isemployed to prevent the adaptive parameters from drifting. According tothis technique, however, the optimal value of the predetermined value ηthat defines the dead zone can vary depending on operating conditions ofthe engine as the controlled object, due to aging changes incharacteristics of the LAF sensor 17, etc., so that the dead zone canbecome unsuitable for the adaptive control after being applied for along time.

To eliminate this inconvenience, according to the second embodiment,other means is employed for preventing drifts of the adaptiveparameters, instead of the nonlinear filter. Except for this, the secondembodiment is substantially identical in construction with the firstembodiment.

In the present embodiment, the equation (6) is replaced by the followingequation (30) for calculating the adaptive parameter vector θ. Theequation (30) can be embodied as an adaptive parameter-calculatingsection shown in FIG. 13A. In the figure, B71 and B74 representmultipliers, B72 an adder, and B73 a delay block for delaying the signalby one sampling period. ##EQU11## wherein σ represents a forgettingfactor vector set or expressed by the following equation (31): ##EQU12##wherein the second equation is obtained in the case where m=n=1 and d=3hold.

The second equation of the equation (30) can be expanded into thefollowing equation (32): ##EQU13## In this equation, the identificationerrors eid(1), eid(2), . . . obtained in the past are multiplied by(k-1)-th power, (k-2)-th power, . . . , of the forgetting factor vectorσ, respectively.

Therefore, by setting the elements Sb₀, Sr₁, . . . , Ss₀, etc. of theforgetting factor vector σ to values larger than 0 but smaller than 1,the influence of the identification error eid obtained in the past isreduced as the value of k increases, i.e. the influence of the previouseid values can be progressively decreased. This prevents a slightidentification error caused by difference in characteristics between themodel used in designing the control system and the actual plant andexternal disturbances from being endlessly accumulated in the adaptiveparameter vector θ, to thereby prevent the same from drifting. As isclear from the equation (31), as the elements Sb₀, Sr₁, . . . , Ss₀,etc. of the forgetting factor vector σ are made closer to 0, the degreeof influence of the previous values of the identification error eid isdecreased. Therefore, it is preferable to determine the values of theseelements by empirically determining the oldest one of the previousvalues of the adaptive parameter vector that is to be reflected on thepresent value, to ensure good control characteristics of the adaptivecontroller.

Introduction of the forgetting factor σ causes the elements or adaptiveparameters of the adaptive parameter vector θ to assume progressivelysmaller values toward 0 when the engine operates in a steady operatingcondition in which the identification error signal e* (identificationerror eid) becomes very small in value. The adaptive parameter b₀ is,however, the denominator of the equation (10) (or the equation (23)), sothat if the adaptive parameter b₀ progressively becomes closer to 0, theadaptive control correction coefficient KSTR becomes infinite to causedivergence of the control. To avoid this inconvenience, it is preferredthat the element Sb₀ of the forgetting factor vector σ is set to 1. Evenwith this setting, the other adaptive parameters r₁, r₂, . . . , s₀,etc. are limited to finite values by the forgetting factors Sr₁, Sr₂, .. . , Ss₀, etc. to prevent divergence of the absolute value of theadaptive parameter b₀. Description will be made further in this respect:

The adaptive parameter vector θ is adjusted such

The adaptive parameter θ is adjusted such that the identification erroreid(k) expressed by the equation (14) becomes equal to zero. In thepresent embodiment, the polynomial D(Z⁻¹)=1 holds, and hence assumingthat eid(k) is equal to 0, there holds the relationship expressed by thefollowing equation (33):

    y(k)=θ.sup.T (k-1)ζ(k-d)                        (33)

If in the equation (33), y(k)=KACT(k), u(k)=KSTR(k) and d=3 holds, theequation (33) can be transformed into the following equation (34):

    KACT(k)=b.sub.0 KSTR(k-3)+r.sub.1 KSTR(k-4)+r.sub.2 KSTR(k-5)+r.sub.3 KSTR(k-6)+s.sub.0 KACT(k-3)                               (34)

In the equation (34), the actual equivalent ratio KACT(k) and theadaptive control correction coefficient KSTR(k) are finite values, andtherefore, so long as the adaptive parameters r₁, r₂, r₃, and s₀ arefinite values, the adaptive parameter b0 naturally assumes a finitevalue so that no divergence of the adaptive control occurs.

The elements Sr₁, Sr₂, . . . Ss₀, etc. other than the element Sb₀ of theforgetting factor vector σ may be all set to an identical value S, e.g.a value within a range of 0.95 to 0.99.

Further, even if some of the elements Sr₁, Sr₂, . . . , Ss₀, etc. otherthan the element Sb0 of the forgetting factor vector σ may be set to 1,so as to inhibit its forgetting function, it is possible to moreeffectively prevent the adaptive parameter vector θ from drifting thanin the case of using the equation (6) in which no multiplication by theforgetting factor δ is carried out.

In the present embodiment, the STR controller appearing in FIG. 5corresponds to the adaptive controller, the adaptive parameter-adjustingmechanism to the adaptive parameter vector-adjusting means, and theelements of the forgetting factor vector σ to predeterminedcoefficients.

Next, a third embodiment of the invention will be described.

In the second embodiment described above, the forgetting factors isintroduced to prevent drifting of the adaptive parameters. Thistechnique, however, has the inconvenience that the ability ofcompensating for dynamic characteristics of the engine, which isoriginally provided by the adaptive control, can lower since theelements r₁, r₂, s₀, etc. other than the element b0 of the adaptiveparameter vector converge to 0 or values close thereto when the enginecontinues to be in a steady operating condition.

To eliminate this inconvenience, according to the present embodiment,when the engine continues to be in a steady operating condition, theequation for calculating the adaptive parameter vector θ is modifiedsuch that the adaptive parameter vector θ is converged to an initialvalue thereof, and at the same time, the initial value is set such thatthe ability of compensating for engine dynamic characteristics can beexhibited to a proper extent by the adaptive control when the engine isin a steady operating condition. Expect for this, the present embodimentis substantially identical in construction with the first embodiment.

In the present embodiment, the equation (6) is transformed into the sumof the initial value θ(0) of the adaptive parameter vector and anupdating component dθ(k), as expressed by the following equation (35):

    θ(k)=θ(0)+dθ(k)                          (35)

and at the same time the updating component dθ(k) is calculated by thefollowing equation (36): ##EQU14## wherein δ represents a forgettingfactor vector set by the following equation (37): ##EQU15## wherein thesecond equation is obtained in the case where m=n=1 and d=3 hold. Theequations (35) and (36) can be embodied as an adaptiveparameter-adjusting section as shown in FIG. 13B. In the figure, B71 andB75 represent multipliers, B72 and B76 adders, and B73 a delay block fordelaying the signal by one sampling period.

The updating component dθ(k) is expanded into the third equation of theequation (36), and if this third equation is applied to the equation(35), the following equation (38) is obtained: ##EQU16##

Comparison of the equation (38) with the equation (32) shows that theequation (37) for calculating the adaptive parameter vector according tothe present embodiment is different from the equation (32) in that theinitial value θ(0) of the adaptive parameter vector of the former is notmultiplied by the forgetting factor vector δ. More specifically, thesecond embodiment using the equation (32) may be considered to beequivalent to a case where in the third embodiment using the equation(38), the initial value θ(0) is also multiplied by the forgettingfactor.

Elements Db₀, Dr₁, Dr₂, . . . , Ds₀, etc of the forgetting factor a areset to values larger than 0 but smaller than 1. It is preferable,however, that the element Db₀ alone is set to 1 so as to set the steadyerror of the adaptive control to zero irrespective of the setting of theinitial value θ(0). Even if Db₀ =1 holds, no drift of the adaptiveparameter vector θ occurs for the same reason that no drift of the sameoccurs even if the element Sb₀ =1 holds in the equation (31) of thesecond embodiment.

The elements Dr₁, Dr₂, . . . , Ds₀, etc. other than the element Db₀ ofthe forgetting factor vector σ may be all set to an identical value D(0<D<1, e.g. within a range of 0.95 to 0.99) without causing anydisadvantageous effects on the control performance. Therefore, it ispreferred that the forgetting factor vector δ=[1, D, D, . . . , D]holds.

As described above, according to the present embodiment, the adaptiveparameter vector θ is calculated by using the equation (35) (i.e. theequation (38)) by employing the forgetting factor vector δ. As a result,when the engine continues to be in a steady operating condition, theadaptive parameter vector θ is converged to a value close to the initialvalue θ(0). Therefore, by setting the initial value θ(0) to a suitablevalue, it is possible to maintain excellent dynamiccharacteristics-compensating ability of the adaptive control whilepreventing the adaptive parameter vector θ from drifting, even when theengine continues to be in a steady operating condition.

It should be noted that even if some of the elements Dr₁, Dr₂, . . . ,Ds₀, etc. other than the element Db₀ of the forgetting factor vector δare set to 1 so as to inhibit its forgetting function, it is possible tomore effectively prevent the adaptive parameter vector θ from driftingthan in the case of using the equation (6) in which no multiplication bythe forgetting factor δ is carried out.

In the present embodiment, the STR controller appearing in FIG. 5corresponds to the adaptive controller, the adaptive parameter-adjustingmechanism to the adaptive parameter vector-adjusting means, and theelements of the forgetting factor vector δ to predeterminedcoefficients.

The above described embodiments are provided only by way of example, butby no means intended to limit the invention, and various changes andmodifications thereto can be made without departing from the spirit andscope of the invention. For instance, although in the above describedembodiments, the adaptive controller is designed such that it is adaptedto the dead time d=3, and the sampling timing of the input vectors tothe adaptive parameter-adjusting mechanism is set to a periodcorresponding to an actual dead time longer than the dead time d, thisis not limitative, but the adaptive controller may be designed such thatit is adapted to the dead time d=2, and the sampling timing of the inputvector ζ to the adaptive parameter-adjusting mechanism may be set to aperiod corresponding to an actual dead time longer than the dead timed=2.

Further, the invention is applicable to a control system using anadaptive controller in which any lowering of orders of terms ofequations used in calculating adaptive parameters is not applied, e.g. acontrol system in which the adaptive controller is adapted to dead timed=2, and the sampling period of the input vector ζ of the adaptiveparameter-adjusting mechanism is set to a period corresponding to d=2.

Still further, although in the above embodiments, as the manipulatedvariable of the adaptive control, the correction coefficient KSTR forcorrecting the basic fuel amount TIMF corresponding to an amount ofintake air supplied to the engine is used, this is not limitative, butthe fuel injection period TOUT may be directly calculated by theadaptive control. However, if the correction coefficient KSTR isemployed as the manipulated variable, the value range of the manipulatedvariable that can be assumed is more limited, compared with the case ofsetting the fuel injection period TOUT to the manipulated variable,whereby it is possible to achieve more stable adaptive control.

Further, the plant to be controlled is not limited to an internalcombustion engine, but it may be a process of manufacturing a chemicalproduct, for instance. In such a case, the physical quantity to bedetected is e.g. a flow rate of a fluid, concentration of a substance,or the like, and the manipulated variable is e.g. a degree of opening ofa control valve.

What is claimed is:
 1. In a control system for a plant, includingdetection means for detecting an output from said plant, an adaptivecontroller for controlling a manipulated variable applied to control ofsaid plant in a manner such that an output from said detection meansbecomes equal to a desired value, and adaptive parameter-adjusting meansfor adjusting adaptive parameters used by said adaptive controller, saidadaptive parameter-adjusting means having identificationerror-calculating means for calculating an identification error of saidadaptive parameters and generating an identification error signalindicative of the calculated identification error, and adjusting meansfor adjusting said adaptive parameters based on the calculatedidentification error,the improvement wherein:said adaptiveparameter-adjusting means comprises non-linear filter means forgenerating an output of 0 or approximately 0 in response to saididentification error signal when said identification error is within apredetermined range, said adjusting means adjusting said adaptiveparameters by using said output from said non-linear filter means.
 2. Acontrol system according to claim 1, wherein said adaptiveparameter-adjusting means includes low-pass filter means for attenuatinghigh-frequency components of said identification error signal from saididentification error signal-calculating means to generate an output ofthe resulting attenuated signal, said adjusting means using a sum ofsaid output from said non-linear filter means and said output from saidlow-pass filter means to adjust said adaptive parameters.
 3. A controlsystem according to claim 2, wherein said adaptive parameter-adjustingmeans includes limiting means for limiting said output from saidlow-pass filter means within said predetermined range, said adjustingmeans using a sum of said output from said non-linear filter means andan output from said limiting to adjust said adaptive parameters.
 4. Acontrol system according to claim 1, wherein said non-linear filtermeans has no discontinuity in an input/output characteristic thereof. 5.A control system according to claim 1, wherein said adaptiveparameter-adjusting means includes averaging means for calculatingmoving average values of said adaptive parameters, and supplies saidmoving average values to said adaptive controller.
 6. A control systemaccording to claim 1, wherein said plant is an internal combustionengine having an exhaust system, said detection means being air-fuelratio-detecting means arranged in said exhaust system, for detecting anair-fuel ratio of an air-fuel mixture supplied to said engine, saiddesired value being a desired air-fuel ratio of said air-fuel mixture,said manipulated variable being an amount of fuel to be supplied to saidengine.
 7. A control system according to claim 6, wherein saidmanipulated variable is calculated as a correction coefficient forcorrecting a basic fuel amount corresponding to an amount of intake airsupplied to said engine.